<!DOCTYPE html>
<html lang="en">
<head>
    <meta charset="UTF-8">
    <title>GROOPS - Instrument2RmsPlotGrid</title>

    <!-- JQuery and Popper -->
    <script src="https://code.jquery.com/jquery-3.4.1.slim.min.js" integrity="sha384-J6qa4849blE2+poT4WnyKhv5vZF5SrPo0iEjwBvKU7imGFAV0wwj1yYfoRSJoZ+n" crossorigin="anonymous"></script>
    <script src="https://cdn.jsdelivr.net/npm/popper.js@1.16.0/dist/umd/popper.min.js" integrity="sha384-Q6E9RHvbIyZFJoft+2mJbHaEWldlvI9IOYy5n3zV9zzTtmI3UksdQRVvoxMfooAo" crossorigin="anonymous"></script>

    <!-- Bootstrap -->
    <!-- https://getbootstrap.com/docs/4.1/examples/ -->
    <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/js/bootstrap.min.js" integrity="sha384-wfSDF2E50Y2D1uUdj0O3uMBJnjuUD4Ih7YwaYd1iqfktj0Uod8GCExl3Og8ifwB6" crossorigin="anonymous"></script>
    <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">

    <!-- Mathjax -->
    <script type="text/x-mathjax-config">
    MathJax.Hub.Config({tex2jax: {inlineMath: [ ['$','$'] ],
                                  displayMath: [ ["\\[","\\]"] ],
                                  processEscapes: true},
                        TeX:     {Macros: {M: ["{\\mathbf #1}",1]},
                                  equationNumbers: {autoNumber: "all"}  }});
    </script>
    <script async src="https://cdn.jsdelivr.net/npm/mathjax@2.7.7/MathJax.js?config=TeX-AMS_CHTML" integrity="sha384-e/4/LvThKH1gwzXhdbY2AsjR3rm7LHWyhIG5C0jiRfn8AN2eTN5ILeztWw0H9jmN" crossorigin="anonymous"></script>

    <!-- lunr -->
    <script src="https://cdn.jsdelivr.net/npm/lunr@2.3.8/lunr.min.js" integrity="sha384-vRQ9bDyE0Wnu+lMfm57BlYLO0/XauFuKpVsZPs7KEDwYKktWi5+Kz3MP8++DFlRY" crossorigin="anonymous"></script>

    <!-- Mustache -->
    <script src="https://cdn.jsdelivr.net/npm/mustache@4.0.1/mustache.min.js" integrity="sha384-0PLEZVBpOQ+Kqw3anJWSNWvRxpEFt02tSpBvyRsA4WcvX/OTldWdXxGLVLvh954H" crossorigin="anonymous"></script>

    <!-- GROOPS Stylesheet -->
    <link rel="stylesheet" href="static/groops.css"/>

    <!-- icon -->
    <link rel="icon" href="static/groops_icon.png">

</head>
<body>
    <header>
        <nav class="navbar navbar-expand-lg navbar-dark bg-dark">
            <div class="container">
              <a class="navbar-brand" href="index.html"><img class="logo" src="static/groops_white.svg"></a>
              <div class="collapse navbar-collapse" id="mainNavbar">
                <ul class="navbar-nav mr-auto">
                  <li class="nav-item">
                    <a class="nav-link" href="programType.html">Programs</a>
                  </li>
                  <li class="nav-item">
                    <a class="nav-link" href="classes.html">Classes</a>
                  </li>
                  <li class="nav-item">
                    <a class="nav-link" href="general.parser.html">Parser</a>
                  </li>
                  <li class="nav-item">
                    <a class="nav-link" href="general.fileFormat.html">File Formats</a>
                  </li>
                </ul>
              </div>
                <form class="form-inline my-2 my-lg-0" action="search.html" id="searchTools">
                  <input class="form-control mr-sm-2" placeholder="Search" name="searchTerms" method="GET" value="" type="text" id="searchBox">
                  <button class="btn btn-secondary my-2 my-sm-0" type="submit" id="searchButton">Search</button>
                </form>
              <button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#mainNavbar" aria-controls="mainNavbar" aria-expanded="false" aria-label="Toggle navigation" style="">
                <span class="navbar-toggler-icon"></span>
              </button>
            </div>
        </nav>
    </header>
    <main class="container px-0 pt-2 top-buffer">
        <div id="content" class="container">
            <h1>Instrument2RmsPlotGrid</h1><p>

This program computes an RMS plot grid from one or more <a class="groops-class" href="fileFormat_instrument.html">inputfileInstrument</a>
containing 3D data (e.g. orbits or station positions), which can then be plotted as gridded data in <a class="groops-program" href="PlotGraph.html">PlotGraph</a>.
The RMS is computed from the difference between <a class="groops-class" href="fileFormat_instrument.html">inputfileInstrument</a> and
<a class="groops-class" href="fileFormat_instrument.html">inputfileInstrumentReference</a>.
All instrument files must be synchronized (see <a class="groops-program" href="InstrumentSynchronize.html">InstrumentSynchronize</a>).</p><p>Each separate <a class="groops-class" href="fileFormat_instrument.html">inputfileInstrument</a> represents an entry (e.g. a satellite or station)
in the resulting grid. Therefore, providing, for example, 32 orbit files of GPS satellites
results in a grid with columns: mjd, id (0-31), rms.</p><p>The first three data columns of the instrument data are considered for computation of the RMS values.
The <strong class="groops-config-element">factor</strong> can be set to, for example, sqrt(3) to get 3D instead of 1D RMS values.</p><p>If <a class="groops-class" href="timeSeriesType.html">timeIntervals</a> are provided, each <a class="groops-class" href="fileFormat_instrument.html">inputfileInstrument</a>
and <a class="groops-class" href="fileFormat_instrument.html">inputfileInstrumentReference</a> serves as a template with variable <code>loopTime</code>.
This allows concatenation of instrument files, for example to create a month-long RMS plot grid from daily GPS
orbit files (see below).</p><p>Helmert parameters between the two frames can be estimated each epoch optionally if
<strong class="groops-config-element">estimateShift</strong>, <strong class="groops-config-element">estimateScale</strong>, or <strong class="groops-config-element">estimateRotation</strong> are set.
It uses a <a class="groops-ref" href="fundamentals.robustLeastSquares.html">robust least squares adjustment</a>.</p><p><figure><img class="figure" style="width:80%;" src="../figures/instrument2RmsPlotGrid.png" alt="instrument2RmsPlotGrid"><figcaption class="center">Figure: Comparison of estimated GPS orbits with IGS final solution.</figcaption></figure>
</p>
<table class="table table-hover">
<tr class="table-primary"><th>Name</th><th>Type</th><th>Annotation</th></tr>
<tr class="table-light"><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional">outputfileRmsPlotGrid</div></div></td><td>filename</td><td>columns: mjd, id, rms</td></tr>
<tr class=""><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional">outputfileHelmertTimeSeries</div></div></td><td>filename</td><td>columns: mjd, tx, ty, tz, scale, rx, ry, rz</td></tr>
<tr class="table-light"><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config mustset-unbounded">inputfileInstrument</div></div></td><td>filename</td><td>one file per satellite/station</td></tr>
<tr class=""><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config mustset-unbounded">inputfileInstrumentReference</div></div></td><td>filename</td><td>one file per satellite/station, same order as above</td></tr>
<tr class="table-light"><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional-unbounded">timeIntervals</div></div></td><td><a href="timeSeriesType.html">timeSeries</a></td><td>for {loopTime} variable in inputfile</td></tr>
<tr class=""><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional">factor</div></div></td><td>double</td><td>e.g. sqrt(3) for 3D RMS</td></tr>
<tr class="table-light"><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional">estimateShift</div></div></td><td>boolean</td><td>coordinate center every epoch</td></tr>
<tr class=""><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional">estimateScale</div></div></td><td>boolean</td><td>scale factor of position every epoch</td></tr>
<tr class="table-light"><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional">estimateRotation</div></div></td><td>boolean</td><td>rotation every epoch</td></tr>
<tr class=""><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional">huber</div></div></td><td>double</td><td>for robust least squares</td></tr>
<tr class="table-light"><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional">huberPower</div></div></td><td>double</td><td>for robust least squares</td></tr>
<tr class=""><td class="m-0"><div class="h-100 config-tree depth-0"><div class="h-100 config optional">huberMaxIteration</div></div></td><td>uint</td><td>(maximum) number of iterations for robust estimation</td></tr>
</table>

        </div>
    </main>
</body>
</html>
